CN107112127B - Wire rod grasping device and wire rod holding method - Google Patents
Wire rod grasping device and wire rod holding method Download PDFInfo
- Publication number
- CN107112127B CN107112127B CN201680003445.2A CN201680003445A CN107112127B CN 107112127 B CN107112127 B CN 107112127B CN 201680003445 A CN201680003445 A CN 201680003445A CN 107112127 B CN107112127 B CN 107112127B
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- wire rod
- pair
- clamping piece
- sliding bar
- main part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Coil Winding Methods And Apparatuses (AREA)
- Wire Processing (AREA)
Abstract
Wire rod grasping device (10) has：A pair of of clamping piece (11,12), they are closer to each other, the wire rod (9) being present in clamping between them；Spring (26), by a pair of of clamping piece (11,12), close direction or the direction being separated from each other push to each other；And driving device (43), so that a pair of of clamping piece (11,12) is overcome the active force of spring (26) and is separated from each other or approaches, driving device (43) has：The motor (45) for making a pair of of clamping piece (11,12) separation or close cam (44) and cam (44) being made to be moved to arbitrary position.
Description
Technical field
The present invention relates to the wire rod grasping devices and wire rod holding method for coiling apparatus etc..
Background technology
JP2000-331860A is disclosed, and as the wire rod grasping device for coiling apparatus etc., is had：Wire gripper
A pair of of clamping piece by a pair of of clamping piece spring that close direction pushes to each other and overcomes the active force of spring and makes one
To the fluid-pressure cylinder of clamping piece separation.
In recent years, in coiling apparatus, the end portion treatment for being played from the detour of wire rod and executing wound wire rod is developed
Until coiling apparatus.Therefore, in the grasping device of wire rod used in such coiling apparatus, it is desirable that forbid wire rod opposite
In a pair of movement for holding piece, a pair of piece that holds is made to be moved together with by a pair of wire rod for holding piece clamping and wire rod can be made circuitous
It returns, and wire rod is held to allow wire rod relative to a pair of piece that holds with weaker power by using a pair of piece that holds
Mobile, thus, it is possible to stretch wire rod while so that wire rod is slided between holding piece in a pair.
However, in making a pair of of holding piece existing grasping device close to each other to hold wire rod using spring, in order to
Change the hold held to wire rod, it is necessary to will be replaced towards the spring to exert a force in a direction close to each other to a pair of of holding piece
For the different spring of spring constant.Wire rod is held thus, for example being difficult to arbitrarily change in the state that device is run
Hold.
Invention content
The purpose of the present invention is to provide can easily change hold wire rod hold wire rod grasping device and
Wire rod holding method.
According to one method of the present invention, a kind of wire rod grasping device is provided, is had：Manipulator, the manipulator have：
The sliding bar being arranged in a manner of it can retreat relative to main part；It is set to aforementioned body portion and can be with above-mentioned sliding bar
Into or exit accordingly it is closer to each other come wire gripper a pair of of clamping piece；And by above-mentioned sliding bar to from aforementioned body
The spring that the direction that portion exits pushes；And driving device, it is set to the mounting plate for being provided with above-mentioned manipulator, and make above-mentioned
Sliding bar overcomes the active force of above-mentioned spring and enters aforementioned body portion, to drive above-mentioned a pair of of clamping piece, above-mentioned driving dress
Setting has：Operating lever, one end face the jag of above-mentioned sliding bar, and are set to the above-mentioned peace in the extension of above-mentioned sliding bar
Loading board；Cam engages with the other end of aforesaid operations bar；And motor, make above-mentioned cam displacement to arbitrary position.
An other mode according to the present invention, provides a kind of wire rod holding method, has：A pair of of clamping piece, it
It is closer to each other, to which clamping is present in wire rod between them；Spring, by above-mentioned a pair of of clamping piece close side towards each other
To and the two directions of direction for being separated from each other in the direction of either one push；Cam overcomes the effect of above-mentioned spring
Power drives above-mentioned a pair of of clamping piece；And motor, make above-mentioned cam displacement to arbitrary position, by using said motor
Make above-mentioned cam displacement to change the hold of above-mentioned a pair of of clamping piece.
Description of the drawings
Fig. 1 is the sectional view for the wire rod grasping device for indicating the 1st embodiment of the present invention, and is the line A-A along Fig. 4
Sectional view.
Fig. 2 is to indicate that the wire rod grasping device of the 1st embodiment of the present invention holds the sectional view of the state of wire rod.
Fig. 3 is to indicate that the wire rod grasping device of the 1st embodiment of the present invention weaker holds the section view of the state of wire rod
Figure.
Fig. 4 is the side view of the wire rod grasping device of the 1st embodiment of the present invention.
Fig. 5 is the side view of the state of the manipulator movement for the wire rod grasping device for indicating the 1st embodiment of the present invention.
Fig. 6 is the vertical view of the wire rod grasping device of the 1st embodiment of the present invention.
Fig. 7 is the structural map of the manipulator of the wire rod grasping device of the 1st embodiment of the present invention.
Fig. 8 A are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 8 B are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 8 C are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 8 D are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 9 is the sectional view corresponding with Fig. 1 for the wire rod grasping device for indicating the 2nd embodiment of the present invention.
Figure 10 is to indicate that the wire rod grasping device of the 2nd embodiment of the present invention holds the sectional view of the state of wire rod.
Figure 11 is to indicate that the wire rod grasping device of the 2nd embodiment of the present invention weaker holds the section view of the state of wire rod
Figure.
Specific implementation mode
With reference to attached drawing, the wire rod grasping device of embodiments of the present invention is illustrated.
The 1st embodiment ＞ of ＜
Referring to Fig.1~Fig. 7 illustrates the wire rod grasping device 10 of the 1st embodiment of the present invention.
As shown in Fig. 1 and Fig. 4, wire rod grasping device 10 has to be present in be clamped between them by closer to each other
A pair of of clamping piece 11,12 of wire rod 9.In the present embodiment, a pair of of clamping piece 11,12 is installed on horizontal motion manipulator 20
A pair of of mobile station 21,22.
As shown in fig. 7, manipulator 20 have a pair of of mobile station 21,22, for a pair of of mobile station 21,22 side by side and can be reciprocal
The main part 23 that is movably arranged, by can be along in a manner of the direction orthogonal with the moving direction of a pair of of mobile station 21,22 be slided
Be set to the sliding bar 24 of main part 23 and be accommodated in main part 23 inside and both ends respectively by sliding bar 24 and mobile
Platform 21,22 pivot suspensions and middle part are by a pair of of handle component (not shown) of 23 pivot suspension of main part.
For the manipulator 20, if sliding bar 24 enters main part 23, a pair of handle component difference (not shown)
Rotation, a pair of of mobile station 21,22 are separated from each other.On the other hand, if sliding bar 24 is exited from main part 23, a pair (not shown)
Handle component rotates round about respectively, and a pair of of mobile station 21,22 is closer to each other.
That is, if the sliding bar 24 for entering main part 23 is made to be exited from main part 23, it is set to a pair of of movement
A pair of of clamping piece 11,12 of platform 21,22 and a pair of of mobile station 21,22 are closer to each other together, if there is wire rod 9 between them
(Fig. 1~Fig. 3), then wire rod 9 is by the clamping of a pair of of clamping piece 11,12.
In addition, wire rod grasping device 10 has：Make a pair of of clamping piece 11,12 close direction, i.e. a pair of of clamping to each other
The first helical spring 26 as spring that the direction that piece 11,12 is closed pushes.First helical spring 26 is configured at from manipulator
The periphery of 20 23 sliding bar 24 outstanding of main part.The jag of sliding bar 24 is provided with the end for the first helical spring 26
The pressing cover 27 of portion's locking.Therefore, the first helical spring 26 with compressed state be clipped on main part 23 with pressing cover 27 it
Between, pressing cover 27 is pushed to the direction far from main part 23 by extending force, the sliding of pressing cover 27 will be installed in end
Bar 24 is pushed to from the direction that main part 23 exits.
As shown in FIG. 1 to 3, wire rod grasping device 10 has：Mounting plate 13 for being installed on coiling apparatus etc..Machinery
Hand 20 is mounted 13 pivot suspension of plate via turntable 14.Turntable 14 has：It is directly mounted 13 pivot of plate via bearing 16
The cylindrical portion 14a of bearing and be set to cylindrical portion 14a a side end installation sheet 14b.Manipulator 20 is via slide unit
15 are installed on installation sheet 14b.
Slide unit 15 has：The fixed plate 15a and movable plate 15b of overlapping, are provided in fixed plate 15a for movable plate
The parallel guide rail 15c of the both sides engaging of 15b.In this way, movable plate 15b relative to fixed plate 15a can prolong along guide rail 15c
The mode for the direction movement stretched is arranged.Fixed plate 15a is so that cylindrical portion of the direction that extends guide rail 15c relative to turntable 14
The mode of the orthogonality of center shaft of 14a is installed on installation sheet 14b.
As shown in figure 4, the ora terminalis of a side of fixed plate 15a on the moving direction of movable plate 15b is provided with for movable
The first stopper member 28 that the short edge of a side of plate 15b abuts, fixed plate 15a's on the moving direction of movable plate 15b
The ora terminalis of another party is provided in a manner of so that the ora terminalis of a side of movable plate 15b is abutted with the first stopper member 28 to movable
The little spring 29 that plate 15b is pushed.
The interior threaded part 31 for being equipped with internal thread hole perforation in the ora terminalis of another party of fixed plate 15a and being formed.Small bullet
Spring 29 is helical spring, and is inserted in interior threaded part 31 in such a way that one end is abutted with the ora terminalis of another party of movable plate 15b.
In addition, the internal thread hole in interior threaded part 31 is screwed with stove bolt 32 in a manner of being abutted with the other end of little spring 29.
That is the state that little spring 29 compresses is clipped between movable plate 15b and stove bolt 32.Therefore, by changing stove bolt
32 are screwed into depth relative to interior threaded part 31, and the decrement of little spring 29 is made to change, and are assigned so as to change little spring 29
Give the active force of movable plate 15b.In addition, the component in Fig. 4 shown in reference numeral 33 prevents from screwing togather with interior threaded part 31
The nut that stove bolt 32 loosens.
In this way, movable plate 15b makes the ora terminalis of a side be abutted with the first stopper member 28 by the active force of little spring 29.
Fixed plate 15a in overlapping and movable plate 15b both sides, in the state that movable plate 15b is abutted with the first stopper member 28, energy
It is enough for be set to inserting hole 15d, 15e of 27 insert of pressing cover of sliding bar 24 fixed plate 15a and movable plate 15b substantially in
Centre penetrates through fixed plate 15a and movable plate 15b and is formed.
On the other hand, the main part 23 of manipulator 20 is installed on installation platelet 20a via stove bolt 14c, wherein installation is small
Plate 20a is installed on movable plate 15b.Herein, the moving direction of a pair of of clamping piece 11,12 is the mobile side relative to movable plate 15b
To orthogonal direction.That is, the manipulator 20 for being installed on movable plate 15b via installation platelet 20a can be pressed from both sides along with a pair
Hold the moving direction of piece 11,12 and the direction movement that the two directions of the moving direction of sliding bar 24 are orthogonal.In addition, sliding bar
24 central shaft becomes the state consistent with the central shaft of cylindrical portion 14a.That is, being installed on rotation via slide unit 15
The manipulator 20 of platform 14 is rotated jointly with turntable 14, therefore as the state that can be rotated relative to mounting plate 13, is become
It is mounted the state of 13 pivot suspension of plate.
In addition, be helical spring to the movable plate 15b little springs 29 pushed, therefore as depicted by the full line arrows in figure 5
Like that, movable plate 15b can overcome the active force of little spring 29 and the extending direction and machinery of the wire rod 9 that are clamped along manipulator 20
Hand 20 is moved relative to fixed plate 15a jointly.In order to make such manipulator 20 towards the extending direction of wire rod 9 amount of movement not at
More than specified value, it is provided with the second stopper member 36 limited the amount of movement of manipulator 20.
Second stopper member 36 has：One end 37a is installed on the crankshaft cheek 37 and one of the crank-like of installation platelet 20a
The L-type that end 38a is installed on installation sheet 14b abuts plate 38.Crankshaft cheek 37 abuts plate 38 with L-type to move regulation in manipulator 20
Configure the mode that the other end 38b that the other end 37b of crankshaft cheek 37 abuts plate 38 with L-type is abutted in the case that value is above.Respectively
Inserting hole 15d, 15e are as shown in Figure 5, are formed as the other end that the other end 37b in crankshaft cheek 37 abuts plate 38 with L-type
38b also can be for the size of 27 insert of pressing cover in the state of abutting.In addition, the portion in Fig. 4 and Fig. 5 shown in reference numeral 39
Part is to abut the detection sensor that the other end 38b of plate 38 is detected to whether the other end 37b of crankshaft cheek 37 abuts L-type
39.The detected value of detection sensor 39 inputs control device (not shown).
In addition, as shown in FIG. 1 to 3, the servo for making the rotation of turntable 14 to arbitrary position is equipped in mounting plate 13
Motor 18.Servo motor 18 makes its rotary shaft 18a relative to cylinder with the position of the distance as defined in only being left from cylindrical portion 14a
The mode that the rotary shaft of portion 14a is parallel is installed.The rotary shaft 18a of servo motor 18 is provided with belt wheel 17b.In addition, across
Mounting plate 13 and the cylindrical portion 14a of the side opposite with manipulator 20 is equipped with belt wheel 17a.Between these belt wheels 17a, 17b
Extension is wound with band 17c.
If the driving of servo motor 18 makes rotary shaft 18a rotate, which transmits via belt wheel 17a, 17b and with 17c
To cylindrical portion 14a, manipulator 20 is with turntable 14 jointly towards arbitrary position moving in rotation.
Herein, the component shown in the reference numeral 19a in figure is the erecting bed 19a for installing servo motor 18, and with
The mode parallel relative to mounting plate 13 is installed on mounting plate 13 via installation foot 19b.Peaces of the erecting bed 19a towards installation foot 19b
Dress is carried out by bolt 19c as shown in Figure 6.In addition, in the peace across erecting bed 19a and the side opposite with turntable 14
Loading board 13 has been provided for erecting screw thread platform 19d.Screwed part 19e that front end is contacted with erecting bed 19a and mounting plate 13 parallelly spiral shell
Line is installed on screw thread platform 19d.
Therefore, if loose bolts 19c makes screwed part 19e rotate, the front end of screwed part 19e can be made to be contacted
Erecting bed 19a movements.Moreover, by fastening bolt 19c in desirable position, servo motor 18 can be made with from turntable
14 modes for separating desirable interval are configured at mounting plate 13.
In addition, being configured in the cylindrical portion 14a of turntable 14：It one end can be with the pressing cover 27 that is set to sliding bar 24
The operating lever 41 of abutting and the second helical spring 42 for pushing operating lever 41 to the direction far from sliding bar 24.If overcoming
The active force of two helical springs 42 and so that operating lever 41 is moved, then the end of operating lever 41 is covered with pressing and 27 is abutted.If further
Operating lever 41 is set to move, then the sliding bar 24 for being provided with pressing cover 27 overcomes the active force of the first helical spring 26 and enters main body
Portion 23 makes the direction that a pair of of mobile station 21,22 of manipulator 20 is left to each other jointly with a pair of of clamping piece 11,12 move.
Wire rod grasping device 10 is further equipped with：A pair of of clamping piece 11,12 is set to overcome the active force of the first helical spring 26
And the driving device 43 detached.Driving device 43 has：The direction that driving a pair of clamping piece 11,12 makes them detach to each other is moved
Dynamic cam 44 and the motor 45 for making cam 44 be moved to arbitrary position.
Cam 44 is plane cam 44, and it is servo motor 45 so that cam 44 is moved to the motor 45 of arbitrary position.In plectane
The plane cam 44 of shape is equipped with the rotary shaft 45a of servo motor 45 in the position of off center.Servo motor 45 is so that it is rotated
Axis 45a is installed on mounting plate 13 relative to the mode of the orthogonality of center shaft of cylindrical portion 14a.Prejudicially it is set to servo motor 45
The periphery of the plane cam 44 of rotary shaft 45a is contacted with from the end of cylindrical portion 14a operating levers 41 outstanding always.
In addition, as shown in Fig. 1~Fig. 6, installing component 47 is pacified in a manner of blocking the end of operating lever 41 via pillar 46
Loaded on mounting plate 13.It is formed with the axis hole 47a (Fig. 4) relative to the orthogonality of center shaft of cylindrical portion 14a in installing component 47.In axis
Hole 47a inserts the rotary shaft 45a for having servo motor 45.
In addition, in installing component 47, the position opposed with the end of operating lever 41 be formed with intersect with axis hole 47a and
The slit 47b of a side opening opposite with operating lever 41.In addition, installing component 47 be formed with slit 47b opening and
The section shape of 41 side opening of operating lever is the slot hole 47c of long round shape.
Plane cam 44 is installed on the rotary shaft 45a by slit 47b, and can be constituted by slit 47b and slot hole 47c
Space intrinsic displacement, and its periphery is contacted with the end of operating lever 41 always.
Next, being illustrated to the wire rod holding method of the wire rod grasping device of above structure.
Wire rod grasping device 10 as described above has the servo motor 45 for making cam 44 be moved to arbitrary position, therefore
Make 44 displacement of cam by servo motor 45, thus, it is possible to change the hold of a pair of of clamping piece 11,12.
Specifically, in order to hold wire rod 9, first, as shown in Figure 1,44 swing offset of cam is made by servo motor 45,
To make operating lever 41 be moved towards manipulator 20.If in this way, make operating lever 41 overcome the second helical spring 42 active force and
Mobile, then the end of operating lever 41 is contacted with the pressing cover 27 of manipulator 20.If keeping operating lever 41 further mobile, it is provided with
The sliding bar 24 of pressing cover 27 overcomes the active force of the first helical spring 26 and enters main part 23, makes a pair of of mobile station 21,22
It is moved with the direction that a pair of of clamping piece 11,12 leaves to each other jointly.In this way, being formed with confession between a pair of of clamping piece 11,12
Wire rod 9 by space.
As shown in Figure 1, a pair of of clamping piece 11,12 away from each other in the state of, the shape opened of i.e. a pair of of clamping piece 11,12
Under state, wire rod 9 is made to enter between a pair of of clamping piece 11,12.Pass through the submitting wire rod 9 for making to be set to coiling apparatus (not shown) etc.
Nozzle it is mobile or make the entrance of wire rod 9 by keeping wire rod grasping device 10 itself mobile.
Then, in the state that wire rod 9 enters between a pair of of clamping piece 11,12, cam 44 is made again by servo motor 45
Secondary swing offset, to make operating lever 41 be moved towards 44 side of cam by the active force of the second helical spring 42.If operating lever
41 move to the direction far from manipulator 20, as shown in Fig. 2, the end of operating lever 41 is moved to the pressing cover 27 from manipulator 20
Separation, then make sliding bar 24 be exited from main part 23 by the active force of the first helical spring 26.If sliding bar 24 is from main part
23 exit, then a pair of of clamping piece 11,12 becomes state closer to each other, i.e. a pair of of clamping piece jointly with a pair of of mobile station 21,22
11,12 state closed.
In this way, the wire rod 9 being present between a pair of of clamping piece 11,12 by the active force of the first helical spring 26 to compare
Strong power is clamped by a pair of of clamping piece 11,12.That is, the effect that a pair of of clamping piece 11,12 passes through the first helical spring 26
Power and it is closer to each other, therefore a pair of of clamping is present in be clamped by chucking power corresponding with the active force of the first helical spring 26
Wire rod 9 between piece 11,12.
Flexible in wire rod 9, as shown in the enlarged drawing of Fig. 2, the section of wire rod 9 is deformed due to elasticity,
The interval A of a pair of of clamping piece 11,12 is smaller than the diameter of wire rod.
Herein, as described above, wire rod grasping device 10 can make opening a pair of clamping piece 11,12 by servo motor 45
Cam 44 be moved to arbitrary position.Therefore, if making 44 displacement of cam by servo motor 45, if as shown in figure 3, maintaining behaviour
The end for making bar 41 detaches tight preceding state, the then wire rod 9 and Fig. 2 being present between a pair of of clamping piece 11,12 from sliding bar 24
Shown situation compares, and is clamped by the active force of the first helical spring 26 in slightly compressed state.Change speech
It, is present in the wire rod 9 between a pair of of clamping piece 11,12 compared with situation shown in Fig. 2, slightly with a pair of of clamping piece 11,12
The state of opening is clamped.Therefore, as shown in the enlarged drawing of Fig. 3, the interval B of a pair of of clamping piece 11,12, which is more than, passes through the first spiral shell
Revolve spring 26 active force and make a pair of of clamping piece 11,12 wire grippers 9 Fig. 2 interval A.
In this way, in the state of before the end of operating lever 41 detaches tightly from sliding bar 24, in 9 flexible situation of wire rod
Under, as shown in the enlarged drawing of Fig. 3, the section of wire rod 9 is deformed due to elasticity, but compared with situation shown in Fig. 2, wire rod 9
The deformation of section is smaller.That is, compared with situation shown in Fig. 2, wire rod 9 becomes the shape held by weaker chucking power
State.It in other words, can be according to the first spiral changed by making 44 swing offset of cam if in the elastic range of wire rod 9
The active force of spring 26 is based more on the chucking power of a pair of of clamping piece 11,12 to become.
In this way, for the wire rod grasping device 10 of present embodiment and wire rod holding method, it can be according to cam
44 displacement, i.e. advance and retreat of the sliding bar 24 relative to main part 23, drive a pair of of clamping piece 11,12, to make a pair
Interval variation between clamping piece 11,12.Therefore, it is possible to become the hold for the wire rod 9 for being based more on a pair of of clamping piece 11,12.Separately
Outside, the displacement of cam 44 can easily be changed using servo motor 45, therefore in wire rod grasping device 10 and wire rod
In holding method, it is capable of the hold of easily change and adjustment holding wire rod 9.
If as a result, forbidding wire rod 9 to be pressed from both sides relative to a pair than wire gripper 9 strongly by a pair of of clamping piece 11,12
Hold the movement of piece 11,12, keep a pair of of clamping piece 11,12 and the wire rod 9 that is held jointly mobile, then can to the wire rod 9 of clamping into
Row bracing wire.Herein, the manipulator 20 of wire rod grasping device 10 is supported by the pivot as to rotate relative to mounting plate 13, therefore logical
It overdrives servo motor 18, so that manipulator 20 is rotated and mobile, such as can be as shown in the dotted arrow of Fig. 8 A, to line
Material carries out bracing wire with arc-shaped.
In addition, in wire rod grasping device 10, manipulator 20 can along with a pair of of clamping piece 11,12 moving direction and
The extension in the orthogonal direction in the two directions of the moving direction of operating lever 41, wire rod 9 i.e. clamped by a pair of of clamping piece 11,12
Direction movement.If thus, for example, carrying out bracing wire to the wire rod 9 that a pair of of clamping piece 11,12 is held as Fig. 8 A, thereafter such as
Fig. 8 B are pulled like that, then as shown in figure 5, manipulator 20 overcomes the active force of little spring 29 and moved towards the direction of another party.This
When wire rod 9 be pulled by assigning the equal power of the active force of manipulator 20 with little spring 29.
If manipulator 20 is moved to the direction of another party, the other end 38b that L-type abuts plate 38 and then can be with crankshaft cheek
37 other end 37b is abutted.Therefore, manipulator 20 can not be moved further towards the direction of another party.Moreover, the state passes through inspection
Sensor 39 is surveyed to detect.Therefore, if detecting that crankshaft cheek 37 abuts with L-type the abutting of plate 38 by detection sensor 39
When, the clamping by a pair of of clamping piece 11,12 pair wire rod 9 is released, then can apply the active force pushed with little spring 29 in wire rod 9
Terminate the bracing wire of wire rod 9 in the state of equal power.
If in addition, as shown in Fig. 2, forbidding wire rod 9 opposite than wire gripper 9 strongly by a pair of of clamping piece 11,12
It is further pulled in the state of the movement of a pair of of clamping piece 11,12, then as shown in Figure 8 C, also wire rod 9 can be made in bracing wire
Midway is for example torn near pin 8.
On the other hand, if as shown in figure 3, being allowed with weaker power wire gripper 9 by a pair of of clamping piece 11,12
Movement of the wire rod 9 relative to a pair of of clamping piece 11,12.If in this way, allowing moving and making a pair of of clamping piece 11,12 for wire rod 9
It is mobile, then as in fig. 8d, it can also make the wire rod 9 being clamped by a pair of of clamping piece 11,12 side between a pair of of clamping piece 11,12
Sliding, which becomes, to be stretched.
The 2nd embodiment ＞ of ＜
Next, with reference to Fig. 9 to Figure 11, the wire rod grasping device 10 of the 2nd embodiment of the present invention is illustrated.With
Under, by with illustrated centered on the 1st embodiment difference, it is identical attached to identical with the 1st embodiment structure mark
Icon is remembered and is omitted the description.
For the manipulator 20 of wire rod grasping device 10, if sliding bar 24 enters main part 23, a pair of of mobile station
21,22 (Figure 10) closer to each other, if sliding bar 24 is exited from main part 23, a pair of of mobile station 21,22 is separated from each other (Fig. 9).
Therefore, as shown in Figure 10, if sliding bar 24 is made to enter main part 23, it is set to the one of a pair of of mobile station 21,22
Common closer to each other with a pair of of mobile station 21,22 to clamping piece 11,12, if there is wire rod 9 between them, wire rod 9 is by one
Clamping piece 11,12 is clamped.
In addition, being configured at the first helical spring 26 from the periphery of 23 sliding bar 24 outstanding of main part with compressed shape
State is clipped between main part 23 and pressing cover 27.First helical spring 26 is by extending force by pressing cover 27 to far from main part
23 direction pushes, and sliding bar 24 is pushed to from the direction that main part 23 exits.Therefore, as shown in figure 9, wire rod grasping device
10 the first helical spring 26 is functioned as the spring for making direction displacement that a pair of of clamping piece 11,12 detaches to each other.
It is configured in the cylindrical portion 14a of turntable 14：One end can be abutted with the pressing cover 27 for being set to sliding bar 24
Operating lever 41 and the second helical spring 42 from operating lever 41 to the direction far from sliding bar 24 that push.
The driving device 43 of wire rod grasping device 10 has：Make the close direction driving to each other of a pair of of clamping piece 11,12
Cam 44 and so that cam 44 is moved to the servo motor 45 of arbitrary position.Cam 44 is plane cam 44, in disk-shaped plate
Cam 44 installs the rotary shaft 45a of servo motor 45 from the position of center bias.Servo motor 45 is so that its rotary shaft 45a is opposite
It is installed on mounting plate 13 in the mode of the orthogonality of center shaft of cylindrical portion 14a.Prejudicially it is set to the rotary shaft 45a of servo motor 45
The periphery of plane cam 44 contacted with from the end of cylindrical portion 14a operating levers 41 outstanding.
Next, being illustrated to the wire rod holding method of the wire rod grasping device based on above structure.
Wire rod grasping device 10 is identical as above first embodiment, and having makes cam 44 be moved to desirable position
Servo motor 45, therefore make 44 displacement of cam by using servo motor 45, the holding of a pair of of clamping piece 11,12 can be changed
Power.
Specifically, in order to hold wire rod 9, first, as shown in figure 9, servo motor 45 makes 44 swing offset of cam, pass through
The active force of first helical spring 26, makes operating lever 41 be exited from main part 23, makes a pair of of mobile station 21,22 and a pair of of clamping piece
11,12 common separate direction movement to each other.In this way, a pair of of clamping piece 11,12 be formed with for wire rod 9 by space.
A pair of of clamping piece 11,12 away from each other in the state of, in the state that i.e. a pair of of clamping piece 11,12 opens, make line
Material 9 enters between a pair of of clamping piece 11,12.By making the nozzle for the submitting wire rod 9 for being set to coiling apparatus (not shown) etc. move
It moves or so that wire rod 9 is entered by keeping wire rod grasping device 10 itself mobile.
Then, in the state that wire rod 9 enters between a pair of of clamping piece 11,12, cam 44 is made to revolve by servo motor 45
Indexing moves, and operating lever 41 is made to overcome the active force of the second helical spring 42 and be moved in a manner of close to manipulator 20.If grasping
Make after bar 41 contacts with the pressing cover 27 of sliding bar 24, further to move operating lever 41 in a manner of close to manipulator 20, then
Sliding bar 24 enters main part 23.If the entrance main part 23 of sliding bar 24, a pair of of clamping piece 11,12 and a pair of of mobile station 21,
22 is common closer to each other.
As a result, as shown in Figure 10, the wire rod 9 being present between a pair of of clamping piece 11,12 with make sliding bar
The power of 24 entrance main parts 23, the corresponding chucking power of stronger power of the position of cam 44 i.e. to be kept are by a pair of of clamping piece
11,12 clamping.
Herein, flexible in wire rod 9, as shown in the enlarged drawing of Figure 10, the section of wire rod 9 due to elasticity and
Deformation, the interval A of a pair of of clamping piece 11,12 are smaller than the diameter of wire rod.It is corresponding with the power of 45 cam 44 to be made of servo motor rotation
Ground generates the chucking power of wire gripper 9 between a pair of of clamping piece 11,12.On the other hand, be present in a pair of of clamping piece 11,12 it
Between wire rod 9 there is elasticity, therefore generate the resistance with the confrontation of the chucking power of a pair of of clamping piece 11,12.Therefore, wire rod 9
When resistance is equal with the chucking power of a pair of of clamping piece 11,12, the swing offset of cam 44 stops.As a result, being present in one
Wire rod 9 between clamping piece 11,12 becomes to be clamped by corresponding with the power of 44 swing offset of cam to be made chucking power
State.
In this way, even if can be by the resistance of wire rod 9 if so that cam 44 is continued swing offset by servo motor 45
As a pair of of clamping piece 11,12 can not further towards state, i.e. cam 44 can not further rotate the state of displacement.This
When, wire rod 9 is clamped by comparing strong chucking power.
On the other hand, wire rod grasping device 10 can turn off the cam of a pair of of clamping piece 11,12 by servo motor 45
44 are moved to arbitrary position.Therefore, as shown in figure 11, also can be considered as making cam 44 because of the resistance of wire rod 9
Swing offset stop position it is tight before become make the state that the swing offset of cam 44 stops.
In this case, the wire rod 9 being present between a pair of of clamping piece 11,12 by the swing offset with cam 44 accordingly
A pair of of clamping piece 11,12 close to each other and be clamped.However, in this case, with comparison shown in Fig. 10, wire rod 9 such as Figure 11
Enlarged drawing shown in, in the state that a pair of of clamping piece 11,12 is slightly opened be clamped.That is, such as the enlarged drawing of Figure 11
It is shown, it is spaced A shown in enlarged drawings of the interval B more than Figure 10 of a pair of of clamping piece 11,12 in this case.
In this way, flexible in wire rod 9, the section for the wire rod 9 being clamped by a pair of of clamping piece 11,12 becomes
Shape.The deflection of the section of wire rod 9 is different according to the swing offset amount of cam 44, as shown in the enlarged drawing of Figure 10, in wire rod 9
Section deformation it is larger in the case of, the chucking power of the wire rod 9 based on a pair of of clamping piece 11,12 also becomes larger, such as putting for Figure 11
Shown in big figure, in the case where the deformation of the section of wire rod 9 is smaller, the chucking power of the wire rod 9 based on a pair of of clamping piece 11,12
Become smaller.If that is, in the elastic range of wire rod 9, one can be based more on to become according to the swing offset amount of cam 44
To the chucking power of clamping piece 11,12.
As described above, in the wire rod grasping device 10 of present embodiment and wire rod holding method, according to cam 44
Displacement, i.e. sliding bar 24 a pair of of clamping piece 11,12 is driven relative to the advance and retreat of main part 23, to make a pair of of clamping piece
11, the interval variation between 12.Therefore, it is possible to become the hold for the wire rod 9 for being based more on a pair of of clamping piece 11,12.In addition, cam 44
Displacement can easily be changed by servo motor 45, therefore in the wire rod grasping device 10 and line of present embodiment
In material holding method, can adjustment easily be changed to the hold for holding wire rod 9.
In addition, identical as above first embodiment, manipulator 20 can be along the moving direction with a pair of of clamping piece 11,12
And the orthogonal direction in the two directions of the moving direction of operating lever 41, wire rod 9 i.e. clamped by a pair of of clamping piece 11,12
It moves in the direction of extension.It therefore, also can be to assign the work of manipulator 20 with little spring 29 after having carried out bracing wire to wire rod 9
Firmly equal power pulls wire rod 9.
More than, embodiments of the present invention are illustrated, but the above embodiment only shows the present invention's
A part for application examples is not the purport for the specific structure that the range of the technology of the present invention is limited to the above embodiment.
For example, in the above-described embodiment, a pair of of clamping piece 11,12 close direction or is separated from each other to each other
The spring 26 that direction pushes is helical spring.Spring is not limited to helical spring, can also be other than the helical springs such as leaf spring
The spring of form can be arbitrary form as long as a pair of of clamping piece 11,12 can be made to be opened and closed.
In addition, in the above embodiment, plane cam 44 is used as cam.It replaces, cam can also be that front is convex
It can be any form of cam that (grooved cam), solid cam, which are taken turns, as long as the aperture of a pair of of clamping piece 11,12 can be changed.
In addition, in the above-described embodiment, servo motor is used as the motor for making cam 44 be moved to arbitrary position
45.Can also be the motor of other forms as long as motor can make 44 swing offset of cam to arbitrary position.
In addition, as shown in Fig. 9~Figure 11, in the form for closing a pair of of clamping piece 11,12 by cam 44, and pass through
The power of 45 cam 44 to be made of servo motor rotation accordingly generates the chucking power of wire gripper 9.Therefore, as servo motor 45,
The motor that can change the torque that cam 44 to be made rotates can also be used, by changing torque, thus becomes and is based more on a pair of of folder
Hold the hold of the wire rod 9 of piece 11,12.
This application claims the priority for the Patent 2015-125261 that on June 23rd, 2015 applies in Japan's patent Room, should
Whole contents of application are by referring to introducing this specification.
Claims (5)
1. a kind of wire rod grasping device, which is characterized in that have：
Manipulator has：The main part that can be reciprocatingly arranged；It is arranged in a manner of it can retreat relative to main part
Sliding bar；Be set to the main part and can with the entrance of the sliding bar or exit accordingly closer to each other be clamped
A pair of of clamping piece of wire rod；And by the sliding bar to the spring pushed from the direction that the main part exits；And
Driving device is set to the mounting plate for being provided with the manipulator, and the sliding bar is made to overcome the work of the spring
Firmly enter the main part, to drive the pair of clamping piece,
The driving device has：
Operating lever, one end face the jag of the sliding bar, and are set to the peace on the extended line of the sliding bar
Loading board；
Cam engages with the other end of the operating lever；And
Motor makes the cam displacement to arbitrary position.
2. wire rod grasping device according to claim 1, which is characterized in that
If the sliding bar is exited from the main part, the pair of clamping piece is orthogonal with the advance and retreat direction of the sliding bar
Direction on movement closer to each other, to which clamping is present in wire rod between them, if the sliding bar enters the main part,
Then the pair of clamping piece is separated from each other.
3. wire rod grasping device according to claim 1, which is characterized in that
If the sliding bar is exited from the main part, the pair of clamping piece is orthogonal with the advance and retreat direction of the sliding bar
Direction on be separated from each other, if the sliding bar enter the main part, the pair of clamping piece movement closer to each other, to
Clamping is present in the wire rod between them.
4. wire rod grasping device described in any one of claim 1 to 3, which is characterized in that
The manipulator with can along moving direction and the operating lever with the pair of clamping piece moving direction this two
The mode of the orthogonal direction movement in a direction is set to the mounting plate,
The wire rod grasping device is further equipped with：
Little spring pushes the manipulator in a manner of so that the manipulator is moved towards the direction of a side；
First stopper member forbids that the manipulator is made to move rule towards the direction of a side because of the active force of the little spring
It is more than definite value；And
Second stopper member forbids the manipulator to overcome the active force of the little spring and moved towards the direction of another party
It is more than specified value.
5. a kind of wire rod holding method of wire rod grasping device, the wire rod grasping device have：
Manipulator has：The main part that can be reciprocatingly arranged；It is arranged in a manner of it can retreat relative to main part
Sliding bar；Be set to the main part and can with the entrance of the sliding bar or exit accordingly closer to each other be clamped
A pair of of clamping piece of wire rod；And by the pair of clamping piece towards each other close direction and the direction that is separated from each other the two
The spring that the direction of either one in direction pushes；
Cam overcomes the active force of the spring to drive the pair of clamping piece via the sliding bar；And
Motor makes the cam displacement to arbitrary position,
The wire rod holding method is characterized in that,
Make the cam displacement by using the motor to change the hold of the pair of clamping piece.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015125261A JP6460923B2 (en) | 2015-06-23 | 2015-06-23 | Wire holding apparatus and wire holding method |
| JP2015-125261 | 2015-06-23 | ||
| PCT/JP2016/066145 WO2016208339A1 (en) | 2015-06-23 | 2016-06-01 | Wire gripping device and wire gripping method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107112127A CN107112127A (en) | 2017-08-29 |
| CN107112127B true CN107112127B (en) | 2018-09-25 |
Family
ID=57586188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680003445.2A Active CN107112127B (en) | 2015-06-23 | 2016-06-01 | Wire rod grasping device and wire rod holding method |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6460923B2 (en) |
| KR (1) | KR102006011B1 (en) |
| CN (1) | CN107112127B (en) |
| WO (1) | WO2016208339A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826774B (en) * | 2017-04-07 | 2023-07-28 | 深圳市爱康生物科技股份有限公司 | Mechanical gripper capable of continuously rotating |
| CN107685339A (en) * | 2017-08-29 | 2018-02-13 | 南阳理工学院 | A kind of mechanical grip for machine-building |
| TWI808983B (en) | 2017-09-08 | 2023-07-21 | 日商索尼股份有限公司 | Manufacturing method of robot hand, robot device and electronic equipment |
| CN107954202A (en) * | 2017-10-26 | 2018-04-24 | 苏州立禾生物医学工程有限公司 | A kind of swing arm manipulator |
| CN109229597B (en) * | 2018-09-20 | 2024-02-09 | 内黄县阳光机械有限责任公司 | Rod tying robot |
| KR102261086B1 (en) * | 2018-12-20 | 2021-06-04 | 한국전자기술연구원 | Low-cost robot gripper capable of gripping force control |
| TWI727791B (en) * | 2019-12-20 | 2021-05-11 | 財團法人工業技術研究院 | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
| US11685104B2 (en) | 2019-12-20 | 2023-06-27 | Industrial Technology Research Institute | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
| CN111091934B (en) * | 2019-12-30 | 2021-07-20 | 季华实验室 | One-to-many wire bundle clamping method |
| TWI772991B (en) | 2020-12-02 | 2022-08-01 | 財團法人工業技術研究院 | Braiding path generation method and device, and dynamic correction method and braiding system |
| CN113511551A (en) * | 2021-04-25 | 2021-10-19 | 深圳技术大学 | Manipulator for packaging and assembling linear flexible body |
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| JPS6158603A (en) * | 1984-08-29 | 1986-03-25 | ワイケイケイ株式会社 | Fastener chain feed gripper |
| JPH01261836A (en) * | 1988-04-12 | 1989-10-18 | Mitsubishi Electric Corp | Wire bonding device |
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- 2016-06-01 KR KR1020177011550A patent/KR102006011B1/en active IP Right Grant
- 2016-06-01 CN CN201680003445.2A patent/CN107112127B/en active Active
- 2016-06-01 WO PCT/JP2016/066145 patent/WO2016208339A1/en active Application Filing
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| CN1535336A (en) * | 2001-02-16 | 2004-10-06 | 艾罗帕股份有限公司 | Method for inserting weft threads |
| CN201551346U (en) * | 2009-11-05 | 2010-08-18 | 孙墨 | Endoscope holder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107112127A (en) | 2017-08-29 |
| KR20170066494A (en) | 2017-06-14 |
| JP6460923B2 (en) | 2019-01-30 |
| JP2017011106A (en) | 2017-01-12 |
| WO2016208339A1 (en) | 2016-12-29 |
| KR102006011B1 (en) | 2019-07-31 |
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